• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.1
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• pp.41-48
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• 2014

This paper analyzes the Monte Carlo localization (MCL) method, which estimates the pose of an indoor mobile robot. A mobile robot must know where it is to navigate in an indoor environment. The MCL technique is one of the most influential and popular techniques for estimation of robot position and orientation using a particle filter. For the analysis, we perform experiments in an indoor environment with a differential drive robot and ultrasonic range sensor system. The analysis uses MATLAB for implementation of the MCL and investigates the effects of the control parameters on the MCL performance. The control parameters are the uncertainty of the motion model of the mobile robot and the noise level of the measurement model of the range sensor.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.929-933
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• 2004

A robot manipulator is usually operated in two modes: free motion and constraint motion according to the fact whether the robot comes into contact with the environment or not. At the moment of contact, impact occurs, and sometimes, it can possibly degrade the robot's performance such as vibration and at worst, shortens its lifetime. In this article, a new proposed algorithm is described by introducing a command signal modification method on the basis of impedance control and a validity of the proposed algorithm is demonstrated by showing the simulation study.

• Journal of the Korean Society of Marine Environment & Safety
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• v.2 no.1
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• pp.143-143
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• 1996

Recent Class requirements and IMO recommendations concerning Hull Strength Monitoring (HSM) have prompted an increasing number of shipowner to adopt monitoring systems on bulk carriers and tanker. Such systems are designed to give warning when stress levels and the frequency and magnitude of ship motions approach levels which require corrective action. When fitted these systems provide enhanced operational safety and efficiency. This paper describes a development beyond the standard BMT HSM system through the integration of stress, motion and radar-based sea state monitoring with powerful, on-board, artificial intelligence (AI) tools. The latter utilises conceptual clustering techniques as an aid to pattern recognition in stress, fatigue. motion and sea state data clusters. This, in turn, provides additional operational guidance for ship's staff. Feedback from applications of the standard BMT HSM and extended HSM systems on board the British Steel Bulk Shipping fleet is described.

• Progress in Superconductivity and Cryogenics
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• v.23 no.3
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• pp.10-13
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• 2021

The method of removing micro-plastics from sea water has been developed using electro-magnetic force. Plastics are difficult to decompose and put a great load on the marine environment. Especially a plastic with a size of 5 mm or less is defined as micro-plastic and are carried by ocean currents over long distances, causing global pollution. These are not easily decomposed in the natural environment. The Lorentz force was generated in simulated sea water and its reaction force was applied to the micro-plastic to control their motion. Lorentz force was generated downward and the reaction force to the plastics was upward. The plastic used in the experiment was polystyrene with a diameter of 6 mm, and the density was 1.07 g/cm³. The polystyrene sphere levitated at the current density of 0.83 A/cm² and the external field of 0.87T. The particle trajectory calculation was also made to design separation system using superconducting magnet.

• Structural Engineering and Mechanics
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• v.91 no.3
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• pp.291-300
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• 2024

This paper predicts the combined resonance behavior of the truncated conical shells (TCSs) under transverse and parametric coupled excitation. The motion governing equation is formulated in the framework of high-order shear deformation theory, von Kármán theory and Hamilton principle. The displacements and boundary conditions are characterized by a set of displacement shape functions with double Fourier series. Subsequently, the method of varying amplitude (MVA) is utilized to derive the approximate analytical solution of system response of TCSs. A comparative analysis is conducted to verify the accuracy of the current computational method. Additionally, the interaction mechanism of combined resonance, parametric resonance and primary resonance is examined. And the effect of damping coefficient, the external excitation, initial phase, axial motion speed, temperature variation, humidity variation, material properties and semi-vortex angle on the vibration mechanism are analyzed.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.3 no.1
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• pp.84-95
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• 2009

The ubiquitous smart home is the home of the future, which exploits context information from both the human and the home environment, providing an automatic home service for the human. Human location and motion are the most important contexts in the ubiquitous smart home. In this paper, we present a real-time human tracker that predicts human location and motion for the ubiquitous smart home. The system uses four network cameras for real-time human tracking. This paper explains the architecture of the real-time human tracker, and proposes an algorithm for predicting human location and motion. To detect human location, three kinds of images are used: $IMAGE_1$ - empty room image, $IMAGE_2$ - image of furniture and home appliances, $IMAGE_3$ - image of $IMAGE_2$ and the human. The real-time human tracker decides which specific furniture or home appliance the human is associated with, via analysis of three images, and predicts human motion using a support vector machine (SVM). The performance experiment of the human's location, which uses three images, lasted an average of 0.037 seconds. The SVM feature of human motion recognition is decided from the pixel number by the array line of the moving object. We evaluated each motion 1,000 times. The average accuracy of all types of motion was 86.5%.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.12
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• pp.2365-2370
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• 2017

In this paper, we propose a motion and position recognition technique considering an experiential VR environment. Motion recognition attaches a plurality of AHRS devices to a body part and defines a coordinate system based on this. Based on the 9 axis motion information measured from each AHRS device, the user's motion is recognized and the motion angle is corrected by extracting the joint angle between the body segments. The location recognition extracts the walking information from the inertial sensor of the AHRS device, recognizes the relative position, and corrects the cumulative error using the BLE fingerprint. To realize the proposed motion and position recognition technique, AHRS-based position recognition and joint angle extraction test were performed. The average error of the position recognition test was 0.25m and the average error of the joint angle extraction test was $3.2^{\circ}$.

• Journal of the Korea Computer Graphics Society
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• v.27 no.1
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• pp.1-8
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• 2021

This paper proposes a simple deformation method for editing the trajectory of a walking motion with preserving its style. To this end, our method analyzes the trajectory of the root joint into the graph and deforms it by applying the graph Laplace operator. The trajectory of the root joint is presented as a graph with a vertex defined the position and direction at each time frame on the motion dataThe graph transforms the trajectory into the differential coordinate, and if the constraints are set on the trajectory vertex, the solver iterative approaches to the solution. By modifying the root trajectory, we can continuously vary the walking motion, which reduces the cost of capturing a whole motion that is required. After computes the root trajectory, other joints are copied on the root and post-processed as a final motion. At the end of our paper, we show the application that the character continuously walks in a complex environment while satisfying user constraints.

• Journal of KIISE:Information Networking
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• v.29 no.1
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• pp.97-107
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• 2002

In general, under interactive broadcasting environment, user finds additional service using top-down menu. However, user can't know that additional service provides information until retrieval has finished and top-down menu requires multi-level retrieval. This paper proposes the new method for additional service providing not using top-down menu but using object selection. For the purpose of this method, the movie of a MPEG should be synchronized with the object information(position, size, shape) and object tracking technique is required. Synchronization technique uses the Directshow provided by the Microsoft. Object tracking techniques use a motion-based tracking and a model-based tracking together. We divide object into two parts. One is face and the other is substance. Face tracking uses model-based tracking and Substance uses motion-based tracking base on the block matching algorithm. To improve precise tracking, motion-based tracking apply the temporal prediction search algorithm and model-based tracking apply the face model which merge ellipse model and color model.

• The Journal of Korean Physical Therapy
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• v.33 no.5
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• pp.211-216
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• 2021

Purpose: The main purpose of this meta-analysis was to identify the degree of effect size and variables for the impact of manual physical therapy on the improvement in the range of motion of frozen shoulder patients. Methods: This study collected 8 studies published between 1st January 2010 and 31st December 2020. The analysis of the results verified 49 effect size data and the random effect model was chosen. Results: First, the full case showed the largest mean effect size of 2.485 (p<0.001). Second, the size of the effect based on manual therapy and modality therapy showed an effect size of 4.178 (p<0.001). Third, the outcome group included 6 variables. The external rotation (2.818) variable group showed the largest mean effect size, followed by internal rotation (2.748), flexion (2.643), abduction (2.356), and adduction (2.356). Six outcomes were significant and the mean effect sizes of all the varied groups were above large size. The number of participants showed a 20 or less effect size of 2.478 (p>0.737). The number of intervention periods showed 4 weeks 20 or more effect size of 2.782 (p>0.294). Finally, the 'Trim and Fill' result confirmed that the calibration effect size was 1.471 (p<0.001). Conclusion: This study verified that manual physical therapy had a substantial effect on the improvement of the range of motion of patients with frozen shoulders and that the effects were dependent on the methods of outcomes.